/** \brief Print command on serial console */
void GCode::printCommand()
{
if(hasM())
{
Com::print('M');
Com::print((int)M);
Com::print(' ');
}
if(hasG())
{
Com::print('G');
Com::print((int)G);
Com::print(' ');
}
if(hasT())
{
Com::print('T');
Com::print((int)T);
Com::print(' ');
}
if(hasX())
{
Com::printF(Com::tX,X);
}
if(hasY())
{
Com::printF(Com::tY,Y);
}
if(hasZ())
{
Com::printF(Com::tZ,Z);
}
if(hasE())
{
Com::printF(Com::tE,E,4);
}
if(hasF())
{
Com::printF(Com::tF,F);
}
if(hasS())
{
Com::printF(Com::tS,S);
}
if(hasP())
{
Com::printF(Com::tP,P);
}
if(hasI())
{
Com::printF(Com::tI,I);
}
if(hasJ())
{
Com::printF(Com::tJ,J);
}
if(hasR())
{
Com::printF(Com::tR,R);
}
if(hasString())
{
Com::print(text);
}
Com::println();
}
/**
Converts a binary uint8_tfield containing one GCode line into a GCode structure.
Returns true if checksum was correct.
*/
bool GCode::parseBinary(uint8_t *buffer,bool fromSerial)
{
internalCommand = !fromSerial;
unsigned int sum1 = 0, sum2 = 0; // for fletcher-16 checksum
// first do fletcher-16 checksum tests see
// http://en.wikipedia.org/wiki/Fletcher's_checksum
uint8_t *p = buffer;
uint8_t len = binaryCommandSize - 2;
while (len)
{
uint8_t tlen = len > 21 ? 21 : len;
len -= tlen;
do
{
sum1 += *p++;
if(sum1 >= 255) sum1 -= 255;
sum2 += sum1;
if(sum2 >= 255) sum2 -= 255;
}
while (--tlen);
}
sum1 -= *p++;
sum2 -= *p;
if(sum1 | sum2)
{
if(Printer::debugErrors())
{
Com::printErrorFLN(Com::tWrongChecksum);
}
return false;
}
p = buffer;
params = *(uint16_t *)p;
p += 2;
uint8_t textlen = 16;
if(isV2())
{
params2 = *(uint16_t *)p;
p += 2;
if(hasString())
textlen = *p++;
}
else params2 = 0;
if(params & 1)
{
actLineNumber = N = *(uint16_t *)p;
p += 2;
}
if(isV2()) // Read G,M as 16 bit value
{
if(hasM())
{
M = *(uint16_t *)p;
p += 2;
}
if(hasG())
{
G = *(uint16_t *)p;
p += 2;
}
}
else
{
if(hasM())
{
M = *p++;
}
if(hasG())
{
G = *p++;
}
}
//if(code->params & 8) {memcpy(&code->X,p,4);p+=4;}
if(hasX())
{
X = *(float *)p;
p += 4;
}
if(hasY())
{
Y = *(float *)p;
p += 4;
}
if(hasZ())
{
Z = *(float *)p;
p += 4;
}
if(hasE())
{
E = *(float *)p;
p += 4;
}
if(hasF())
{
F = *(float *)p;
p += 4;
}
if(hasT())
{
T = *p++;
}
if(hasS())
{
S = *(int32_t*)p;
p += 4;
}
if(hasP())
{
P = *(int32_t*)p;
p += 4;
}
if(hasI())
{
I = *(float *)p;
p += 4;
}
if(hasJ())
{
J = *(float *)p;
p += 4;
}
if(hasR())
{
R = *(float *)p;
p += 4;
}
if(hasD())
{
D = *(float *)p;
p += 4;
}
if(hasC())
{
C = *(float *)p;
p += 4;
}
if(hasH())
{
H = *(float *)p;
p += 4;
}
if(hasA())
{
A = *(float *)p;
p += 4;
}
if(hasB())
{
B = *(float *)p;
p += 4;
}
if(hasK())
{
K = *(float *)p;
p += 4;
}
if(hasL())
{
L = *(float *)p;
p += 4;
}
if(hasO())
{
O = *(float *)p;
p += 4;
}
if(hasString()) // set text pointer to string
{
text = (char*)p;
text[textlen] = 0; // Terminate string overwriting checksum
waitUntilAllCommandsAreParsed = true; // Don't destroy string until executed
}
formatErrors = 0;
return true;
}
